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Robot-assisted minimally invasive surgeries offer many advantages but require complex motor tasks that take surgeons years to master. There is currently a lack of knowledge on how surgeons acquire these robotic surgical skills. Toward…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

The proliferation of robot-assisted minimally invasive surgery highlights the need for advanced training tools such as cost-effective robotic endotrainers. Current surgical robots often lack haptic feedback, which is crucial for providing…

Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of…

In recent decades, the tremendous benefits surgical robots have brought to surgeons and patients have been witnessed. With the dexterous operation and the great precision, surgical robots can offer patients less recovery time and less…

Our goal is to develop a principled and general algorithmic framework for task-driven estimation and control for robotic systems. State-of-the-art approaches for controlling robotic systems typically rely heavily on accurately estimating…

Surgeons' technical skill directly impacts patient outcomes. To date, the angular motion of the instruments has been largely overlooked in objective skill evaluation. To fill this gap, we have developed metrics for surgical skill evaluation…

In this paper we introduce a new method simulating stent graft deployment for assisting endovascular repair of abdominal aortic aneurysms. The method relies on intraoperative images coupled with mechanical models. A multi-step algorithm has…

Respiratory motion limits the accuracy and precision of abdominal percutaneous procedures. In this paper, respiratory motion is compensated robotically using motion estimation models. Additionally, a teleoperated insertion is performed…

Objective: To present the first real-time a posteriori error-driven adaptive finite element approach for real-time simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient.…

Simulations play a key role for inference in collider physics. We explore various approaches for enhancing the precision of simulations using machine learning, including interventions at the end of the simulation chain (reweighting), at the…

Over the past few years, robotics simulators have largely improved in efficiency and scalability, enabling them to generate years of simulated data in a few hours. Yet, efficiently and accurately computing the simulation derivatives remains…

Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…

Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…

Accurate real-time estimation of end effector interaction forces in hydraulic excavators is a key enabler for advanced automation in heavy machinery. Accurate knowledge of these forces allows improved, precise grading and digging maneuvers.…

Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…

Vision-guided robotic systems are increasingly deployed in precision alignment tasks that require reliable execution under near-field and off-axis configurations. While recent advances in pose estimation have significantly improved…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…